Merge branch 'master' into center-align

embassy-stm32/src/timer/complementary_pwm.rs

@@ -65,8 +65,7 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
     fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz, counting_mode: CountingMode) -> Self {
         into_ref!(tim);
 
-        T::enable();
-        <T as crate::rcc::sealed::RccPeripheral>::reset();
+        T::enable_and_reset();
 
         let mut this = Self { inner: tim };
 
@@ -74,7 +73,7 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
         this.set_freq(freq);
         this.inner.start();
 
-        this.inner.enable_outputs(true);
+        this.inner.enable_outputs();
 
         this.inner
             .set_output_compare_mode(Channel::Ch1, OutputCompareMode::PwmMode1);
@@ -129,6 +128,46 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
     }
 }
 
+impl<'d, T: ComplementaryCaptureCompare16bitInstance> embedded_hal_02::Pwm for ComplementaryPwm<'d, T> {
+    type Channel = Channel;
+    type Time = Hertz;
+    type Duty = u16;
+
+    fn disable(&mut self, channel: Self::Channel) {
+        self.inner.enable_complementary_channel(channel, false);
+        self.inner.enable_channel(channel, false);
+    }
+
+    fn enable(&mut self, channel: Self::Channel) {
+        self.inner.enable_channel(channel, true);
+        self.inner.enable_complementary_channel(channel, true);
+    }
+
+    fn get_period(&self) -> Self::Time {
+        self.inner.get_frequency().into()
+    }
+
+    fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
+        self.inner.get_compare_value(channel)
+    }
+
+    fn get_max_duty(&self) -> Self::Duty {
+        self.inner.get_max_compare_value() + 1
+    }
+
+    fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
+        assert!(duty <= self.get_max_duty());
+        self.inner.set_compare_value(channel, duty)
+    }
+
+    fn set_period<P>(&mut self, period: P)
+    where
+        P: Into<Self::Time>,
+    {
+        self.inner.set_frequency(period.into());
+    }
+}
+
 fn compute_dead_time_value(value: u16) -> (Ckd, u8) {
     /*
         Dead-time = T_clk * T_dts * T_dtg

embassy-stm32/src/timer/mod.rs

@@ -77,6 +77,16 @@ pub(crate) mod sealed {
         fn set_autoreload_preload(&mut self, enable: vals::Arpe) {
             Self::regs().cr1().modify(|r| r.set_arpe(enable));
         }
+
+        fn get_frequency(&self) -> Hertz {
+            let timer_f = Self::frequency();
+
+            let regs = Self::regs();
+            let arr = regs.arr().read().arr();
+            let psc = regs.psc().read().psc();
+
+            timer_f / arr / (psc + 1)
+        }
     }
 
     pub trait GeneralPurpose16bitInstance: Basic16bitInstance {
@@ -123,6 +133,16 @@ pub(crate) mod sealed {
             regs.egr().write(|r| r.set_ug(true));
             regs.cr1().modify(|r| r.set_urs(vals::Urs::ANYEVENT));
         }
+
+        fn get_frequency(&self) -> Hertz {
+            let timer_f = Self::frequency();
+
+            let regs = Self::regs_gp32();
+            let arr = regs.arr().read().arr();
+            let psc = regs.psc().read().psc();
+
+            timer_f / arr / (psc + 1)
+        }
     }
 
     pub trait AdvancedControlInstance: GeneralPurpose16bitInstance {
@@ -173,7 +193,7 @@ pub(crate) mod sealed {
                 }
             });
         }
-        fn enable_outputs(&mut self, _enable: bool) {}
+        fn enable_outputs(&mut self);
 
         fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
             let r = Self::regs_gp16();
@@ -203,6 +223,10 @@ pub(crate) mod sealed {
         fn get_max_compare_value(&self) -> u16 {
             Self::regs_gp16().arr().read().arr()
         }
+
+        fn get_compare_value(&self, channel: Channel) -> u16 {
+            Self::regs_gp16().ccr(channel.raw()).read().ccr()
+        }
     }
 
     pub trait ComplementaryCaptureCompare16bitInstance: CaptureCompare16bitInstance + AdvancedControlInstance {
@@ -239,6 +263,10 @@ pub(crate) mod sealed {
         fn get_max_compare_value(&self) -> u32 {
             Self::regs_gp32().arr().read().arr()
         }
+
+        fn get_compare_value(&self, channel: Channel) -> u32 {
+            Self::regs_gp32().ccr(channel.raw()).read().ccr()
+        }
     }
 }
 
@@ -460,7 +488,9 @@ macro_rules! impl_32bit_timer {
 #[allow(unused)]
 macro_rules! impl_compare_capable_16bit {
     ($inst:ident) => {
-        impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {}
+        impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {
+            fn enable_outputs(&mut self) {}
+        }
     };
 }
 
@@ -509,7 +539,13 @@ foreach_interrupt! {
         impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
         impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
         impl AdvancedControlInstance for crate::peripherals::$inst {}
-        impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {}
+        impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {
+            fn enable_outputs(&mut self) {
+                use crate::timer::sealed::AdvancedControlInstance;
+                let r = Self::regs_advanced();
+                r.bdtr().modify(|w| w.set_moe(true));
+            }
+        }
         impl sealed::ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
         impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
             fn regs_gp16() -> crate::pac::timer::TimGp16 {

embassy-stm32/src/timer/qei.rs

@@ -55,8 +55,7 @@ impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
     fn new_inner(tim: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(tim);
 
-        T::enable();
-        <T as crate::rcc::sealed::RccPeripheral>::reset();
+        T::enable_and_reset();
 
         // Configure TxC1 and TxC2 as captures
         T::regs_gp16().ccmr_input(0).modify(|w| {

embassy-stm32/src/timer/simple_pwm.rs

@@ -64,8 +64,7 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
     fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz, counting_mode: CountingMode) -> Self {
         into_ref!(tim);
 
-        T::enable();
-        <T as crate::rcc::sealed::RccPeripheral>::reset();
+        T::enable_and_reset();
 
         let mut this = Self { inner: tim };
 
@@ -73,7 +72,7 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
         this.set_freq(freq);
         this.inner.start();
 
-        this.inner.enable_outputs(true);
+        this.inner.enable_outputs();
 
         this.inner
             .set_output_compare_mode(Channel::Ch1, OutputCompareMode::PwmMode1);
@@ -116,3 +115,41 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
         self.inner.set_output_polarity(channel, polarity);
     }
 }
+
+impl<'d, T: CaptureCompare16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d, T> {
+    type Channel = Channel;
+    type Time = Hertz;
+    type Duty = u16;
+
+    fn disable(&mut self, channel: Self::Channel) {
+        self.inner.enable_channel(channel, false);
+    }
+
+    fn enable(&mut self, channel: Self::Channel) {
+        self.inner.enable_channel(channel, true);
+    }
+
+    fn get_period(&self) -> Self::Time {
+        self.inner.get_frequency().into()
+    }
+
+    fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
+        self.inner.get_compare_value(channel)
+    }
+
+    fn get_max_duty(&self) -> Self::Duty {
+        self.inner.get_max_compare_value() + 1
+    }
+
+    fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
+        assert!(duty <= self.get_max_duty());
+        self.inner.set_compare_value(channel, duty)
+    }
+
+    fn set_period<P>(&mut self, period: P)
+    where
+        P: Into<Self::Time>,
+    {
+        self.inner.set_frequency(period.into());
+    }
+}